Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

Exploring the feasibility of green hydrogen production using excess energy from a country-scale 100% solar-wind renewable energy system

When planning large-scale 100% renewable energy systems (RES) for the year 2050, the system capacity is usually oversized for better supply-demand matching of electrical energy since solar and wind resources are highly intermittent. This causes excessive excess energy that is typically dissipated, curtailed, or sold directly. The public literature shows a lack of studies on the feasibility of using this excess for country-scale co-generation. This study presents the first investigation of utilizing this excess to generate green hydrogen gas. The concept is demonstrated for Jordan using three solar photovoltaic (PV), wind, and hybrid PV-wind RESs, all equipped with Lithium-Ion battery energy storage systems (ESSs), for hydrogen production using a polymer electrolyte membrane (PEM) system. The results show that the PV-based system has the highest demand-supply fraction (>99%). However, the wind-based system is more favorable economically, with installed RES, ESS, and PEM capacities of only 23.88 GW, 2542 GWh, and 20.66 GW. It also shows the highest hydrogen annual production rate (172.1 × 10³ tons) and the lowest hydrogen cost (1.082 USD/kg). The three systems were a better option than selling excess energy directly, where they ensure annual incomes up to 2.68 billion USD while having payback periods of as low as 1.78 years. Furthermore, the hydrogen cost does not exceed 2.03 USD/kg, which is significantly lower than the expected cost of hydrogen (3 USD/kg) produced using energy from fossil fuel-based systems in 2050.     

Potential influence of microorganisms on the corrosion of carbon steel in the French high- and intermediate-level long-lived radioactive waste disposal context

In the context of the high-level radioactive waste disposal CIGEO, the corrosion rate due to microbially influenced corrosion (MIC) has to be evaluated. In France, it is envisaged to dispose of high- and intermediate-level long-lived radioactive waste at a depth of 500 m in a deep geological disposal, drilled in the Callovo-Oxfordian claystone (Cox) formation. To do so, a carbon steel casing will be inserted inside disposal cells, which are horizontal tunnels drilled in the Cox. A specific cement grout will be injected between the carbon steel casing and the claystone. A study was conducted to evaluate the possibility of MIC on carbon steel in the foreseeable high radioactive waste disposal. The corrosiveness of various environments was investigated at 50°C and 80°C with or without microorganisms enriched from samples of Andra's underground research laboratory. The monitoring of corrosion during the experiments was ensured using gravimetric method and real-time corrosion monitoring using sensors based on the measurements of the electrical resistance. The corrosion data were completed with microbiological analyses including cultural and molecular characterizations.     

Preparation and Evaluation of a Self-Nanoemulsifying Drug Delivery System Loaded with Heparin Phospholipid Complex

A self-nanoemulsifying drug delivery system (SNEDDS) was developed to enhance the absorption of heparin after oral administration, in which heparin was compounded with phospholipids to achieve better fat solubility in the form of heparin-phospholipid (HEP-Pc) complex. HEP-Pc complex was prepared using the solvent evaporation method, which increased the solubility of heparin in n-octanol. The successful preparation of HEP-Pc complex was confirmed by differential scanning calorimetry (DSC), Fourier-transform infrared (FT-IR) spectroscopy, NMR, and SEM. A heparin lipid microemulsion (HEP-LM) was prepared by high-pressure homogenization and characterized. HEP-LM can enhance the absorption of heparin after oral administration, significantly prolong activated partial thromboplastin time (APTT) and thrombin time (TT) in mice, and reduce fibrinogen (FIB) content. All these outcomes indicate that HEP-LM has great potential as an oral heparin formulation.     

Synthesis,characterization and charge transport properties of Pr–Ni Co-doped SrFe2O4 spinel for high frequency devices applications

Ferrites are materials of interest due to their broad applications in high technological devices and a lot of research has been focused to synthesize new ferrites. In this regard, an effort has been devoted to synthesize spinel Pr–Ni co-substituted strontium ferrites with a nominal formula of Sr_1-xPr_xFe_2-yNi_yO₄ (0.0 ≤ x ≤ 0.1, 0.0 ≤ y ≤ 1.0). The cubic structure of pure and Pr–Ni co-substituted strontium ferrite samples calcinated at 1073 K for 3 h has been confirmed through X-ray diffraction (XRD). Average sizes of crystallites (18–25 nm) have been estimated from XRD analysis and nanometer particle sizes of synthesized ferrites have been further verified by scanning electron microscopy (SEM). SEM results have also shown that particles are mostly agglomerated and all the samples possess porosity. It has been observed that at 298 K, the values of resistivity (ρ) increase, while that of AC conductivity, dielectric loss, and dielectric constants decrease with increasing amounts of Pr³⁺ and Ni²⁺ ions. The values of dielectric parameters initially decrease with frequency and later become constant and can be explained on the basis of dielectric polarization. Electrochemical impedance spectroscopy (EIS) studies show that the charge transport phenomenon in ferrite materials is mainly controlled via grain boundaries. Overall, synthesized ferrite materials own enhanced resistivity values in the range of 1.38 × 10⁹–1.94 × 10⁹ Ω cm and minimum dielectric losses, which makes them suitable candidates for high frequency devices applications.     

What Can We Learn from FGF-2 Isoform-Specific Mouse Mutants? Differential Insights into FGF-2 Physiology In Vivo

Fibroblast growth factor 2 (FGF-2), ubiquitously expressed in humans and mice, is functionally involved in cell growth, migration and maturation in vitro and in vivo. Based on the same mRNA, an 18-kilo Dalton (kDa) FGF-2 isoform named FGF-2 low molecular weight (FGF-2LMW) isoform is translated in humans and rodents. Additionally, two larger isoforms weighing 21 and 22 kDa also exist, summarized as the FGF-2 high molecular weight (FGF-2HMW) isoform. Meanwhile, the human FGF-2HMW comprises a 22, 23, 24 and 34 kDa protein. Independent studies verified a specific intracellular localization, mode of action and tissue-specific spatiotemporal expression of the FGF-2 isoforms, increasing the complexity of their physiological and pathophysiological roles. In order to analyze their spectrum of effects, FGF-2LMW knock out (ko) and FGF-2HMWko mice have been generated, as well as mice specifically overexpressing either FGF-2LMW or FGF-2HMW. So far, the development and functionality of the cardiovascular system, bone formation and regeneration as well as their impact on the central nervous system including disease models of neurodegeneration, have been examined. This review provides a summary of the studies characterizing the in vivo effects modulated by the FGF-2 isoforms and, thus, offers a comprehensive overview of its actions in the aforementioned organ systems.     

Neural network-based flight control systems: Present and future

As the first review in this field, this paper presents an in-depth mathematical view of Intelligent Flight Control Systems (IFCSs), particularly those based on artificial neural networks. The rapid evolution of IFCSs in the last two decades in both the methodological and technical aspects necessitates a comprehensive view of them to better demonstrate the current stage and the crucial remaining steps towards developing a truly intelligent flight management unit. To this end, in this paper, we will provide a detailed mathematical view of Neural Network (NN)-based flight control systems and the challenging problems that still remain. The paper will cover both the model-based and model-free IFCSs. The model-based methods consist of the basic feedback error learning scheme, the pseudocontrol strategy, and the neural backstepping method. Besides, different approaches to analyze the closed-loop stability in IFCSs, their requirements, and their limitations will be discussed in detail. Various supplementary features, which can be integrated with a basic IFCS such as the fault-tolerance capability, the consideration of system constraints, and the combination of NNs with other robust and adaptive elements like disturbance observers, would be covered, as well. On the other hand, concerning model-free flight controllers, both the indirect and direct adaptive control systems including indirect adaptive control using NN-based system identification, the approximate dynamic programming using NN, and the reinforcement learning-based adaptive optimal control will be carefully addressed. Finally, by demonstrating a well-organized view of the current stage in the development of IFCSs, the challenging issues, which are critical to be addressed in the future, are thoroughly identified. As a result, this paper can be considered as a comprehensive road map for all researchers interested in the design and development of intelligent control systems, particularly in the field of aerospace applications.     

外墙保温系统中粘结材料的检测技术分析

选择了几份典型的外墙外保温系统标准,通过对这几份标准中胶粘剂和抹面胶浆的成型和检测方法的比较,分析了现有检测技术的优劣,并结合工作实践提出了建议。     

A Voltage Control Method for a Distributed Line Feeder by means of Multiagent Approach

This paper proposes a method for the coordinated control of power factor by means of a multiagent approach. The proposed multiagent system consists of two types of agent: single feeder agent (F_AG) and bus agent (B_AG). In the proposed system, an F_AG plays as an important role, which decides the power factors of all distributed generators by executing the load flow calculations repeatedly. The voltage control strategies are implemented as the class definition of Java into the system. In order to verify the performance of the proposed method, it has been applied to a typical distribution model system. The simulation results show that the system is able to control very violent fluctuation of the demands and the photovoltaic (PV) generations.